function xnstCOMFn = nstCOMFn(x)
xnstCOMFn = ((47773*cos(x(1) + x(2)))/101663750 + (47773*cos(x(1) + x(2) + x(3) - x(4)))/ ...
   101663750 + (183515043716839333*sin(x(1)))/1983624837997425000 +  ...
  (115136616550093*sin(x(1) + x(2)))/1383847530657105 +  ...
  (3951410064115*sin(x(1) + x(2) + x(3)))/51196358005887 -  ...
  (9299254606247*sin(x(1) + x(2) + x(3) - x(4)))/553539012262842 -  ...
  (40565144278032223*sin(x(1) + x(2) + x(3) - x(4) - x(5)))/ ...
   3967249675994850000 + (-5137*sin(x(1)) - 5000*sin(x(1) + x(2)) +  ...
    5000*sin(x(1) + x(2) + x(3) - x(4)) +  ...
    5137*sin(x(1) + x(2) + x(3) - x(4) - x(5)))/50000)/ ...
 ((-183515043716839333*cos(x(1)))/1983624837997425000 -  ...
  (115136616550093*cos(x(1) + x(2)))/1383847530657105 -  ...
  (3951410064115*cos(x(1) + x(2) + x(3)))/51196358005887 +  ...
  (9299254606247*cos(x(1) + x(2) + x(3) - x(4)))/553539012262842 +  ...
  (5137*cos(x(1)) + 5000*cos(x(1) + x(2)) -  ...
    5000*cos(x(1) + x(2) + x(3) - x(4)) -  ...
    5137*cos(x(1) + x(2) + x(3) - x(4) - x(5)))/50000 +  ...
  (40565144278032223*cos(x(1) + x(2) + x(3) - x(4) - x(5)))/ ...
   3967249675994850000 + (47773*sin(x(1) + x(2)))/101663750 +  ...
  (47773*sin(x(1) + x(2) + x(3) - x(4)))/101663750) ...
;